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2.50: svn merge https://svn.blender.org/svnroot/bf-blender/trunk/blender -r19323:HEAD

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Notes:
* blenderbuttons and ICON_SNAP_PEEL_OBJECT were not merged.
This commit is contained in:
Brecht Van Lommel
2009-04-20 15:06:46 +00:00
parent 7555bfa793 c5bc4e4fb1
commit 874c29cea8
554 changed files with 36035 additions and 27044 deletions
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352
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@@ -16,6 +16,9 @@ subject to the following restrictions:
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "PHY_IMotionState.h"
#include "CcdPhysicsEnvironment.h"
#include "RAS_MeshObject.h"
@@ -24,10 +27,14 @@ subject to the following restrictions:
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "LinearMath/btConvexHull.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
#include "DNA_mesh_types.h"
#include "DNA_meshdata_types.h"
class BP_Proxy;
///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class
@@ -577,7 +584,19 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time)
if (body && !body->isStaticObject())
{
if ((m_cci.m_clamp_vel_max>0.0) || (m_cci.m_clamp_vel_min>0.0))
{
const btVector3& linvel = body->getLinearVelocity();
float len= linvel.length();
if((m_cci.m_clamp_vel_max>0.0) && (len > m_cci.m_clamp_vel_max))
body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_max / len));
else if ((m_cci.m_clamp_vel_min>0.0) && btFuzzyZero(len)==0 && (len < m_cci.m_clamp_vel_min))
body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
}
const btVector3& worldPos = body->getCenterOfMassPosition();
m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]);
@@ -1238,6 +1257,22 @@ void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,flo
quatReal = m_worldTransform.getRotation()[3];
}
void DefaultMotionState::getWorldOrientation(float* ori)
{
*ori++ = m_worldTransform.getBasis()[0].x();
*ori++ = m_worldTransform.getBasis()[1].x();
*ori++ = m_worldTransform.getBasis()[1].x();
*ori++ = 0.f;
*ori++ = m_worldTransform.getBasis()[0].y();
*ori++ = m_worldTransform.getBasis()[1].y();
*ori++ = m_worldTransform.getBasis()[1].y();
*ori++ = 0.f;
*ori++ = m_worldTransform.getBasis()[0].z();
*ori++ = m_worldTransform.getBasis()[1].z();
*ori++ = m_worldTransform.getBasis()[1].z();
*ori++ = 0.f;
}
void DefaultMotionState::setWorldPosition(float posX,float posY,float posZ)
{
btVector3 pos(posX,posY,posZ);
@@ -1272,123 +1307,212 @@ CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mes
bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bool useGimpact)
{
int numpolys;
m_useGimpact = useGimpact;
// assume no shape information
// no support for dynamic change of shape yet
assert(IsUnused());
m_shapeType = PHY_SHAPE_NONE;
m_vertexArray.clear();
m_polygonIndexArray.clear();
m_meshObject = NULL;
if (!meshobj)
return false;
// Mesh has no polygons!
int numpolys = meshobj->NumPolygons();
if (!numpolys)
{
// No mesh object or mesh has no polys
if (!meshobj || meshobj->HasColliderPolygon()==false) {
m_vertexArray.clear();
m_polygonIndexArray.clear();
m_triFaceArray.clear();
return false;
}
// check that we have at least one colliding polygon
int numvalidpolys = 0;
for (int p=0; p<numpolys; p++)
{
RAS_Polygon* poly = meshobj->GetPolygon(p);
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
numvalidpolys++;
break;
}
}
// No collision polygons
if (numvalidpolys < 1)
return false;
numpolys = meshobj->NumPolygons();
m_shapeType = (polytope) ? PHY_SHAPE_POLYTOPE : PHY_SHAPE_MESH;
numvalidpolys = 0;
/* Convert blender geometry into bullet mesh, need these vars for mapping */
vector<bool> vert_tag_array(meshobj->GetMesh()->totvert, false);
unsigned int tot_bt_verts= 0;
unsigned int orig_index;
int i;
for (int p2=0; p2<numpolys; p2++)
if (polytope)
{
RAS_Polygon* poly = meshobj->GetPolygon(p2);
// Tag verts we're using
for (int p2=0; p2<numpolys; p2++)
{
RAS_Polygon* poly= meshobj->GetPolygon(p2);
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
//Bullet can raycast any shape, so
if (polytope)
// only add polygons that have the collision flag set
if (poly->IsCollider())
{
for (int i=0;i<poly->VertexCount();i++)
{
const float* vtx = poly->GetVertex(i)->getXYZ();
btVector3 point(vtx[0],vtx[1],vtx[2]);
//avoid duplicates (could better directly use vertex offsets, rather than a vertex compare)
bool found = false;
for (int j=0;j<m_vertexArray.size();j++)
for(i=0; i<poly->VertexCount(); i++) {
orig_index= poly->GetVertex(i)->getOrigIndex();
if (vert_tag_array[orig_index]==false)
{
if (m_vertexArray[j]==point)
{
found = true;
break;
}
vert_tag_array[orig_index]= true;
tot_bt_verts++;
}
if (!found)
m_vertexArray.push_back(point);
numvalidpolys++;
}
} else
}
}
m_vertexArray.resize(tot_bt_verts);
btVector3 *bt= &m_vertexArray[0];
for (int p2=0; p2<numpolys; p2++)
{
RAS_Polygon* poly= meshobj->GetPolygon(p2);
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
{
const float* vtx = poly->GetVertex(2)->getXYZ();
btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
for(i=0; i<poly->VertexCount(); i++) {
RAS_TexVert *v= poly->GetVertex(i);
orig_index= v->getOrigIndex();
vtx = poly->GetVertex(1)->getXYZ();
btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
if (vert_tag_array[orig_index]==true)
{
const float* vtx = v->getXYZ();
vert_tag_array[orig_index]= false;
vtx = poly->GetVertex(0)->getXYZ();
btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
m_vertexArray.push_back(vertex0);
m_vertexArray.push_back(vertex1);
m_vertexArray.push_back(vertex2);
m_polygonIndexArray.push_back(p2);
numvalidpolys++;
bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
bt++;
}
}
if (poly->VertexCount() == 4)
{
const float* vtx = poly->GetVertex(3)->getXYZ();
btVector3 vertex0(vtx[0],vtx[1],vtx[2]);
vtx = poly->GetVertex(2)->getXYZ();
btVector3 vertex1(vtx[0],vtx[1],vtx[2]);
vtx = poly->GetVertex(0)->getXYZ();
btVector3 vertex2(vtx[0],vtx[1],vtx[2]);
m_vertexArray.push_back(vertex0);
m_vertexArray.push_back(vertex1);
m_vertexArray.push_back(vertex2);
m_polygonIndexArray.push_back(p2);
numvalidpolys++;
}
}
}
}
}
else {
unsigned int tot_bt_tris= 0;
vector<int> vert_remap_array(meshobj->GetMesh()->totvert, 0);
// Tag verts we're using
for (int p2=0; p2<numpolys; p2++)
{
RAS_Polygon* poly= meshobj->GetPolygon(p2);
if (!numvalidpolys)
// only add polygons that have the collision flag set
if (poly->IsCollider())
{
for(i=0; i<poly->VertexCount(); i++) {
orig_index= poly->GetVertex(i)->getOrigIndex();
if (vert_tag_array[orig_index]==false)
{
vert_tag_array[orig_index]= true;
vert_remap_array[orig_index]= tot_bt_verts;
tot_bt_verts++;
}
}
tot_bt_tris += (i==4 ? 2:1); /* a quad or a tri */
}
}
m_vertexArray.resize(tot_bt_verts);
m_polygonIndexArray.resize(tot_bt_tris);
m_triFaceArray.resize(tot_bt_tris*3);
btVector3 *bt= &m_vertexArray[0];
int *poly_index_pt= &m_polygonIndexArray[0];
int *tri_pt= &m_triFaceArray[0];
for (int p2=0; p2<numpolys; p2++)
{
RAS_Polygon* poly= meshobj->GetPolygon(p2);
// only add polygons that have the collisionflag set
if (poly->IsCollider())
{
RAS_TexVert *v1= poly->GetVertex(0);
RAS_TexVert *v2= poly->GetVertex(1);
RAS_TexVert *v3= poly->GetVertex(2);
int i1= v1->getOrigIndex();
int i2= v2->getOrigIndex();
int i3= v3->getOrigIndex();
const float* vtx;
// the face indicies
tri_pt[0]= vert_remap_array[i1];
tri_pt[1]= vert_remap_array[i2];
tri_pt[2]= vert_remap_array[i3];
tri_pt= tri_pt+3;
// m_polygonIndexArray
*poly_index_pt= p2;
poly_index_pt++;
// the vertex location
if (vert_tag_array[i1]==true) { /* *** v1 *** */
vert_tag_array[i1]= false;
vtx = v1->getXYZ();
bt->setX(vtx[0]); bt->setY( vtx[1]); bt->setZ(vtx[2]);
bt++;
}
if (vert_tag_array[i2]==true) { /* *** v2 *** */
vert_tag_array[i2]= false;
vtx = v2->getXYZ();
bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
bt++;
}
if (vert_tag_array[i3]==true) { /* *** v3 *** */
vert_tag_array[i3]= false;
vtx = v3->getXYZ();
bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
bt++;
}
if (poly->VertexCount()==4)
{
RAS_TexVert *v4= poly->GetVertex(3);
int i4= v4->getOrigIndex();
tri_pt[0]= vert_remap_array[i1];
tri_pt[1]= vert_remap_array[i3];
tri_pt[2]= vert_remap_array[i4];
tri_pt= tri_pt+3;
// m_polygonIndexArray
*poly_index_pt= p2;
poly_index_pt++;
// the vertex location
if (vert_tag_array[i4]==true) { /* *** v4 *** */
vert_tag_array[i4]= false;
vtx = v4->getXYZ();
bt->setX(vtx[0]); bt->setY(vtx[1]); bt->setZ(vtx[2]);
bt++;
}
}
}
}
/* If this ever gets confusing, print out an OBJ file for debugging */
#if 0
printf("# vert count %d\n", m_vertexArray.size());
for(i=0; i<m_vertexArray.size(); i+=1) {
printf("v %.6f %.6f %.6f\n", m_vertexArray[i].x(), m_vertexArray[i].y(), m_vertexArray[i].z());
}
printf("# face count %d\n", m_triFaceArray.size());
for(i=0; i<m_triFaceArray.size(); i+=3) {
printf("f %d %d %d\n", m_triFaceArray[i]+1, m_triFaceArray[i+1]+1, m_triFaceArray[i+2]+1);
}
#endif
}
#if 0
if (validpolys==false)
{
// should not happen
m_shapeType = PHY_SHAPE_NONE;
return false;
}
#endif
m_meshObject = meshobj;
if (!polytope)
{
@@ -1413,7 +1537,6 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
{
btCollisionShape* collisionShape = 0;
btTriangleMeshShape* concaveShape = 0;
btTriangleMesh* collisionMeshData = 0;
btCompoundShape* compoundShape = 0;
CcdShapeConstructionInfo* nextShapeInfo;
@@ -1454,18 +1577,17 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
// One possible optimization is to use directly the btBvhTriangleMeshShape when the scale is 1,1,1
// and btScaledBvhTriangleMeshShape otherwise.
if (m_useGimpact)
{
collisionMeshData = new btTriangleMesh();
{
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(
m_polygonIndexArray.size(),
&m_triFaceArray[0],
3*sizeof(int),
m_vertexArray.size(),
(btScalar*) &m_vertexArray[0].x(),
sizeof(btVector3)
);
bool removeDuplicateVertices=true;
// m_vertexArray is necessarily a multiple of 3
for (int i=0;i<m_vertexArray.size(); i+=3 )
{
collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
}
btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(collisionMeshData);
btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(indexVertexArrays);
collisionShape = gimpactShape;
gimpactShape->updateBound();
@@ -1474,17 +1596,39 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape()
{
if (!m_unscaledShape)
{
collisionMeshData = new btTriangleMesh(true,false);
collisionMeshData->m_weldingThreshold = m_weldingThreshold;
btTriangleIndexVertexArray* indexVertexArrays = 0;
bool removeDuplicateVertices=true;
// m_vertexArray is necessarily a multiple of 3
for (int i=0;i<m_vertexArray.size(); i+=3 )
///enable welding, only for the objects that need it (such as soft bodies)
if (0.f != m_weldingThreshold1)
{
collisionMeshData->addTriangle(m_vertexArray[i+2],m_vertexArray[i+1],m_vertexArray[i],removeDuplicateVertices);
btTriangleMesh* collisionMeshData = new btTriangleMesh(true,false);
collisionMeshData->m_weldingThreshold = m_weldingThreshold1;
bool removeDuplicateVertices=true;
// m_vertexArray not in multiple of 3 anymore, use m_triFaceArray
for(int i=0; i<m_triFaceArray.size(); i+=3) {
collisionMeshData->addTriangle(
m_vertexArray[m_triFaceArray[i]],
m_vertexArray[m_triFaceArray[i+1]],
m_vertexArray[m_triFaceArray[i+2]],
removeDuplicateVertices
);
}
indexVertexArrays = collisionMeshData;
} else
{
indexVertexArrays = new btTriangleIndexVertexArray(
m_polygonIndexArray.size(),
&m_triFaceArray[0],
3*sizeof(int),
m_vertexArray.size(),
(btScalar*) &m_vertexArray[0].x(),
sizeof(btVector3));
}
// this shape will be shared and not deleted until shapeInfo is deleted
m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true );
m_unscaledShape = new btBvhTriangleMeshShape( indexVertexArrays, true );
m_unscaledShape->recalcLocalAabb();
}
collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f));